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210 lines
9.6 KiB
210 lines
9.6 KiB
planner_configs:
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AnytimePathShortening:
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type: geometric::AnytimePathShortening
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shortcut: true # Attempt to shortcut all new solution paths
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hybridize: true # Compute hybrid solution trajectories
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max_hybrid_paths: 24 # Number of hybrid paths generated per iteration
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num_planners: 4 # The number of default planners to use for planning
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planners: "" # A comma-separated list of planner types (e.g., "PRM,EST,RRTConnect"Optionally, planner parameters can be passed to change the default:"PRM[max_nearest_neighbors=5],EST[goal_bias=.5],RRT[range=10. goal_bias=.1]"
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SBL:
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type: geometric::SBL
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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EST:
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type: geometric::EST
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
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goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
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LBKPIECE:
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type: geometric::LBKPIECE
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9
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min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
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BKPIECE:
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type: geometric::BKPIECE
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9
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failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5
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min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
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KPIECE:
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type: geometric::KPIECE
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
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border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.]
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failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5
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min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
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RRT:
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type: geometric::RRT
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
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RRTConnect:
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type: geometric::RRTConnect
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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RRTstar:
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type: geometric::RRTstar
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
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delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1
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TRRT:
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type: geometric::TRRT
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
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max_states_failed: 10 # when to start increasing temp. default: 10
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temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0
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min_temperature: 10e-10 # lower limit of temp change. default: 10e-10
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init_temperature: 10e-6 # initial temperature. default: 10e-6
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frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
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frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
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k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup()
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PRM:
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type: geometric::PRM
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max_nearest_neighbors: 10 # use k nearest neighbors. default: 10
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PRMstar:
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type: geometric::PRMstar
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FMT:
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type: geometric::FMT
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num_samples: 1000 # number of states that the planner should sample. default: 1000
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radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1
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nearest_k: 1 # use Knearest strategy. default: 1
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cache_cc: 1 # use collision checking cache. default: 1
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heuristics: 0 # activate cost to go heuristics. default: 0
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extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1
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BFMT:
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type: geometric::BFMT
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num_samples: 1000 # number of states that the planner should sample. default: 1000
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radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0
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nearest_k: 1 # use the Knearest strategy. default: 1
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balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1
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optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1
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heuristics: 1 # activates cost to go heuristics. default: 1
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cache_cc: 1 # use the collision checking cache. default: 1
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extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1
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PDST:
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type: geometric::PDST
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STRIDE:
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type: geometric::STRIDE
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
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use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0
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degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16
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max_degree: 18 # max degree of a node in the GNAT. default: 12
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min_degree: 12 # min degree of a node in the GNAT. default: 12
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max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6
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estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0
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min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2
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BiTRRT:
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type: geometric::BiTRRT
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1
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init_temperature: 100 # initial temperature. default: 100
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frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
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frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
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cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf
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LBTRRT:
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type: geometric::LBTRRT
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
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epsilon: 0.4 # optimality approximation factor. default: 0.4
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BiEST:
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type: geometric::BiEST
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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ProjEST:
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type: geometric::ProjEST
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
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LazyPRM:
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type: geometric::LazyPRM
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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LazyPRMstar:
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type: geometric::LazyPRMstar
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SPARS:
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type: geometric::SPARS
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stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
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sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
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dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001
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max_failures: 1000 # maximum consecutive failure limit. default: 1000
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SPARStwo:
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type: geometric::SPARStwo
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stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
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sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
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dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001
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max_failures: 5000 # maximum consecutive failure limit. default: 5000
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stretch_arm:
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default_planner_config: RRTConnect
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planner_configs:
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- AnytimePathShortening
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- SBL
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- EST
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- LBKPIECE
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- BKPIECE
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- KPIECE
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- RRT
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- RRTConnect
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- RRTstar
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- TRRT
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- PRM
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- PRMstar
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- FMT
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- BFMT
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- PDST
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- STRIDE
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- BiTRRT
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- LBTRRT
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- BiEST
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- ProjEST
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- LazyPRM
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- LazyPRMstar
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- SPARS
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- SPARStwo
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stretch_gripper:
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default_planner_config: RRTConnect
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planner_configs:
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- AnytimePathShortening
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- SBL
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- EST
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- LBKPIECE
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- BKPIECE
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- KPIECE
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- RRT
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- RRTConnect
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- RRTstar
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- TRRT
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- PRM
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- PRMstar
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- FMT
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- BFMT
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- PDST
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- STRIDE
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- BiTRRT
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- LBTRRT
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- BiEST
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- ProjEST
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- LazyPRM
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- LazyPRMstar
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- SPARS
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- SPARStwo
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stretch_head:
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default_planner_config: RRTConnect
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planner_configs:
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- AnytimePathShortening
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- SBL
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- EST
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- LBKPIECE
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- BKPIECE
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- KPIECE
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- RRT
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- RRTConnect
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- RRTstar
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- TRRT
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- PRM
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- PRMstar
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- FMT
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- BFMT
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- PDST
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- STRIDE
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- BiTRRT
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- LBTRRT
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- BiEST
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- ProjEST
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- LazyPRM
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- LazyPRMstar
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- SPARS
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- SPARStwo
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